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How to visualize colored pointclouds in rviz?

asked 2011-03-29 03:55:10 -0600

updated 2011-03-29 05:21:56 -0600

Hi folks,

I want to show rgb values of a point cloud in rviz where I store some information inside the rgb channels. However, there is not any choice named "channel", as it is shown here.

I've tried to add various builtin display types, such as PointCloud2, PointCloud and even LaserScan but none of them contains a channel field.

I've tried to add plugins as it is mentioned in this question. But I couldn't add any plugin via the Plugins->Manage tab of the rviz. So, I cannot obtain something like this.

I've checked the rviz folder in case there might be a folder named plugins or anything related to the plugins but no success.

I tried rviz --help but no information there also.

Can someone please tell me how can we do such a simple thing:) ?


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What is the "type" of the points in the PointCloud2 you are publishing?
Eric Perko gravatar image Eric Perko  ( 2011-03-29 05:56:26 -0600 )edit
They are in the type of pcl::PointXYZRGB and I obtain the RBG values in 24bit packaged format.
Kadir Firat Uyanik gravatar image Kadir Firat Uyanik  ( 2011-03-29 06:47:12 -0600 )edit
If you want to treat an arbitrary channel in the PointCloud as an intensity value, there is a patch for that. See . If you checkout trunk of the visualization stack and rebuild rviz, you should have access to that functionality to try it out.
Eric Perko gravatar image Eric Perko  ( 2011-03-29 07:58:16 -0600 )edit

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answered 2011-03-29 06:25:41 -0600

If the pointcloud is of type XYZRGB you should be able to select RGB8 under "Color Transformer".

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I had tried Color Transformer with RGB, rgb and so on, but not RGB8. Thanks..Btw, does "8" in RGB8 stands for 0-255 scale(= 8bit total) or 8 bit/channel? Because as I said before, pointcloud stores 24bit color value in the rgb field.
Kadir Firat Uyanik gravatar image Kadir Firat Uyanik  ( 2011-03-29 06:57:16 -0600 )edit
I think it does stand for 8 bits per channel.
JediHamster gravatar image JediHamster  ( 2011-03-29 07:11:32 -0600 )edit

answered 2011-03-29 07:53:36 -0600


Is rviz documentation a little outdated? In the channel section of the wiki-page there is no information like RGB8 as mentioned above.

Besides, I tried to set the Color Transformer to other channels like curvature and curvatures, but no success.

How can we visualize curvature values rather than adding this information to the rgb channel of the pointcloud?


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Please update your question with any new information instead of posting it as an answer. This will help keep ROS Answers organized and easier to search in the future. Thanks!
Eric Perko gravatar image Eric Perko  ( 2011-03-29 07:56:28 -0600 )edit

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Asked: 2011-03-29 03:55:10 -0600

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Last updated: Mar 29 '11